diff --git a/autoware_planning_msgs/CMakeLists.txt b/autoware_planning_msgs/CMakeLists.txt
index a8cacca..b6d4ab6 100644
--- a/autoware_planning_msgs/CMakeLists.txt
+++ b/autoware_planning_msgs/CMakeLists.txt
@@ -13,6 +13,9 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/TrajectoryPoint.msg"
   "msg/Path.msg"
   "msg/PathPoint.msg"
+  "msg/VelocityLimit.msg"
+  "msg/VelocityLimitConstraints.msg"
+  "msg/VelocityClearCommand.msg"
   DEPENDENCIES
     geometry_msgs
     std_msgs
diff --git a/autoware_planning_msgs/msg/VelocityLimit.msg b/autoware_planning_msgs/msg/VelocityLimit.msg
new file mode 100644
index 0000000..e050613
--- /dev/null
+++ b/autoware_planning_msgs/msg/VelocityLimit.msg
@@ -0,0 +1,7 @@
+builtin_interfaces/Time stamp
+float32 max_velocity
+
+bool use_constraints false
+autoware_planning_msgs/VelocityLimitConstraints constraints
+
+string sender
diff --git a/autoware_planning_msgs/msg/VelocityLimitClearCommand.msg b/autoware_planning_msgs/msg/VelocityLimitClearCommand.msg
new file mode 100644
index 0000000..881b95c
--- /dev/null
+++ b/autoware_planning_msgs/msg/VelocityLimitClearCommand.msg
@@ -0,0 +1,3 @@
+builtin_interfaces/Time stamp
+bool command false
+string sender
diff --git a/autoware_planning_msgs/msg/VelocityLimitConstraints.msg b/autoware_planning_msgs/msg/VelocityLimitConstraints.msg
new file mode 100644
index 0000000..ebbcd79
--- /dev/null
+++ b/autoware_planning_msgs/msg/VelocityLimitConstraints.msg
@@ -0,0 +1,11 @@
+# maximum signed acceleration
+float32 max_acceleration
+
+# minimum signed acceleration
+float32 min_acceleration
+
+# maximum signed jerk
+float32 max_jerk
+
+# minimum signed jerk
+float32 min_jerk